EscReport (UORB message)
TOPICS: esc_report
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| esc_errorcount | uint32 | Number of reported errors by ESC - if supported | ||
| esc_rpm | int32 | Motor RPM, negative for reverse rotation [RPM] - if supported | ||
| esc_voltage | float32 | Voltage measured from current ESC [V] - if supported | ||
| esc_current | float32 | Current measured from current ESC [A] - if supported | ||
| esc_temperature | float32 | Temperature measured from current ESC [degC] - if supported | ||
| esc_address | uint8 | Address of current ESC (in most cases 1-8 / must be set by driver) | ||
| esc_cmdcount | uint8 | Counter of number of commands | ||
| esc_state | uint8 | State of ESC - depend on Vendor | ||
| actuator_function | uint8 | actuator output function (one of Motor1...MotorN) | ||
| failures | uint16 | Bitmask to indicate the internal ESC faults | ||
| esc_power | int8 | Applied power 0-100 in % (negative values reserved) |
Constants
Source Message
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c
uint64 timestamp # time since system start (microseconds)
uint32 esc_errorcount # Number of reported errors by ESC - if supported
int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
uint8 FAILURE_GENERIC = 6 # (1 << 6)
uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!